Systems and methods for payload stabilization

ABSTRACT

A stabilizing device for stabilizing a payload includes a handle assembly, a payload stabilization assembly, and a constant force assembly. The handle assembly includes one or more grips configured to permit a user to support the entirety of the stabilizing device using the one or more grips. The payload stabilization assembly is configured to support the payload and permit the payload to rotate about at least one axis of rotation. The constant force assembly is operably connected to the handle assembly and supports the payload stabilization assembly. The constant force assembly is configured to provide a force that equipoises a gravity force of the payload stabilization assembly with the payload in a vertical direction such that a net force of the payload stabilization assembly with the payload in the vertical direction is substantially zero.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/049,198, filed on Jul. 30, 2018, which is a continuation ofInternational Application No. PCT/CN2016/073111, filed on Feb. 1, 2016,the entire contents of all of which are incorporated herein byreference.

BACKGROUND OF THE DISCLOSURE

Payloads, including a wide range of objects, such as imaging devices,various sensors, mechanical components for performing different tasks,or cargo, may be easily subject to shaking or jitter, especially whenthey are held in a person's hand(s). For example, when the payload is animaging device, such as a camera, it is likely to shoot photographs orvideo with noticeable shaking if no stabilizing measure is beingapplied. This may be adverse to high quality shooting and good userexperience. Therefore, it would be desirable to provide efficientstabilizing method, devices and system for stabilizing the payloads.

SUMMARY OF THE DISCLOSURE

The stabilizing methods, devices, or systems according to the exemplaryembodiments of the disclosure may be used to stabilize a payload in acoordinate system. In particular, the stabilizing methods, devices, orsystems herein may diminish or eliminate jitter or shaking of a payloadin a vertical direction such that a good stabilization in the verticaldirection would be achieved.

An aspect of the disclosure is directed to a stabilizing device forstabilizing a payload. The stabilizing device comprises a handleassembly comprising one or more grips configured to permit a user tosupport the entirety of the stabilizing device using the one or moregrips. The stabilizing device also comprises a payload stabilizationassembly configured to support the payload and permit the payload torotate about at least one axis of rotation. The stabilizing devicefurther comprises a constant force assembly operably connected to thehandle assembly and configured to support the payload stabilizationassembly, wherein the constant force assembly is configured to provide aforce that equipoises a gravity force of the payload stabilizationassembly with the payload in a vertical direction such that a net forceof the payload stabilization assembly with the payload in the verticaldirection is substantially zero.

Another aspect of the disclosure may be directed to a method forstabilizing a payload. The method comprises supporting the payload usinga payload stabilization assembly configured to permit the payload torotate about at least one axis of rotation. The method also comprisesproviding a force that equipoises a gravity force of the payloadstabilization assembly with the payload in a vertical direction suchthat a net force of the payload stabilization assembly with the payloadin the vertical direction is substantially zero, using a constant forceassembly (1) configured to support the payload stabilization assembly,and (2) operably connected to a handle assembly comprising one or moregrips configured to permit a user to support the entirety of thestabilizing device using the one or more grips.

An additional aspect of the disclosure may be directed to a stabilizingdevice for stabilizing a payload. The stabilizing device comprises ahandle assembly comprising one or more grips. The stabilizing devicealso comprises a payload stabilization assembly configured to supportthe payload and permit the payload to rotate about at least one axis ofrotation, wherein the payload stabilization assembly is configured topermit the payload to rotate about at least one axis of rotation whendirectly operably connected to the handle assembly without a constantforce assembly being operably connected to the handle assembly, whereinthe payload stabilization assembly is configured to permit the payloadto rotate about at least one axis of rotation when supported by theconstant force assembly that is operably connected to the handleassembly, and wherein the constant force assembly is configured toprovide a force that equipoises a gravity force of the payloadstabilization assembly with the payload in a vertical direction suchthat a net force of the payload stabilization assembly with the payloadin the vertical direction is substantially zero.

A further aspect of the disclosure may be directed to a method forstabilizing a payload. The method comprises supporting the payload usinga payload stabilization assembly configured to permit the payload torotate about at least one axis of rotation. The method also comprisespermitting, via the payload stabilization assembly, the payload torotate about at least one axis of rotation when directly operablyconnected to the handle assembly without a constant force assembly beingoperably connected to the handle assembly. The method further comprisespermitting, via the payload stabilization assembly, the payload torotate about at least one axis of rotation when supported by theconstant force assembly that is operably connected to the handleassembly, wherein the constant force assembly is configured to provideforce that equipoises a gravity force of the payload stabilizationassembly with the payload in a vertical direction such that a net forceof the payload stabilization assembly with the payload in the verticaldirection is substantially zero.

An aspect of the disclosure may be directed to a constant force assemblyconfigured for use in a stabilizing device for stabilizing a payload.The constant force assembly comprises a first interface permitting theconstant force assembly to be detachably connected to a handle assemblyof the stabilizing device, wherein the handle assembly comprises one ormore grips. The constant force assembly also comprises a secondinterface permitting the constant force assembly to be detachablyconnected to a payload stabilization assembly of the stabilizing deviceand configured to support the payload stabilization assembly, whereinthe payload stabilization assembly is configured to support the payloadand permit the payload to rotate about at least one axis of rotation.The constant force assembly further comprises a constant force mechanismconfigured to provide a force that equipoises a gravity force of thepayload stabilization assembly with the payload in a vertical directionsuch that a net force of the payload stabilization assembly with thepayload in the vertical direction is substantially zero.

Another aspect of the disclosure may be directed to a method of using aconstant force assembly to stabilize a payload. The method comprisespermitting the constant force assembly to be detachably connected to ahandle assembly of a stabilizing device using a first interface of theconstant force assembly, wherein the handle assembly comprises one ormore grips. The method also comprises permitting the constant forceassembly to be detachably connected to a payload stabilization assemblyof the stabilizing device using a second interface of the constant forceassembly, wherein the payload stabilization assembly is configured tosupport the payload and permit the payload to rotate about at least oneaxis of rotation. The method further comprises providing a force, usingthe constant force assembly, that equipoises a gravity force of thepayload stabilization assembly with the payload in a vertical directionsuch that a net force of the payload stabilization assembly with thepayload in the vertical direction is substantially zero.

An additional aspect of the disclosure may be directed to a stabilizingdevice for stabilizing a payload. The stabilizing device comprises ahandle assembly comprising one or more grips. The stabilizing devicealso comprises a payload stabilization assembly configured to supportthe payload and permit the payload to rotate about at least one axis ofrotation. The stabilizing device further comprises a constant forceassembly operably connected to the handle assembly and configured tosupport the payload stabilization assembly, wherein the constant forceassembly is configured to provide a force that equipoises a gravityforce of the payload stabilization assembly with the payload in avertical direction such that a net force of the payload stabilizationassembly with the payload in the vertical direction is substantiallyzero, wherein the constant force assembly comprises a parallelogramlinkage which includes four pivots and a resilient member obliquelyarranged within the parallelogram linkage, and one attachment point ofthe resilient member is displaced in a horizontal direction by anegative offset distance from a vertical plane passing throughlongitudinal axes of two of four pivots that are adjacent to the handleassembly.

A further aspect of the disclosure may be directed to a method forstabilizing a payload. The method comprises supporting the payload usinga payload stabilization assembly configured to permit the payload torotate about at least one axis of rotation. The method also comprisesproviding a force that equipoises a gravity force of the payloadstabilization assembly with the payload in a vertical direction suchthat a net force of the payload stabilization assembly with the payloadin the vertical direction is substantially zero, using a constant forceassembly (1) configured to support the payload stabilization assembly,and (2) operably connected to a handle assembly comprising one or moregrips, wherein the constant force assembly comprises a parallelogramlinkage which includes four pivots and a resilient member obliquelyarranged within the parallelogram linkage, and one attachment point ofthe resilient member is displaced in a horizontal direction by anegative offset distance from a vertical plane passing throughlongitudinal axes of two of four pivots that are adjacent to the handleassembly.

Other objects and features of the disclosure will become apparent by areview of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the disclosure are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings of which:

FIG. 1 shows a high-level schematic diagram of a stabilizing device inaccordance with embodiments of the disclosure;

FIG. 2 shows a front view of a stabilizing device in accordance with anembodiment of the disclosure;

FIG. 3 shows a perspective view of the stabilizing device as illustratedin FIG. 2;

FIG. 4 shows a lateral view of the stabilizing device as illustrated inFIG. 2;

FIG. 5 shows a perspective view of a constant force assembly including acam and a spring in accordance with an embodiment of the disclosure;

FIG. 6 shows a back view of the constant force assembly as illustratedin FIG. 5;

FIG. 7 shows another perspective view of the constant force assembly asillustrated in FIG. 5;

FIG. 8 shows an exploded view of the constant force assembly asillustrated in FIG. 5;

FIG. 9 shows a front view of a payload stabilization assembly beingmounted on a handle assembly in accordance with an embodiment of thedisclosure;

FIG. 10 shows a perspective view of the payload stabilization assemblybeing mounted on the handle assembly as illustrated in FIG. 9;

FIG. 11 shows a perspective view of a payload stabilization assemblybeing mounted on a handle assembly in accordance with another embodimentof the disclosure;

FIG. 12 shows another perspective view of the payload stabilizationassembly being mounted on the handle assembly as illustrated in FIG. 11;

FIG. 13 shows a front view of the payload stabilization assembly beingmounted on the handle assembly as illustrated in FIG. 11;

FIG. 14 shows a perspective view of a payload stabilization assemblybeing mounted on the handle assembly in accordance with an embodiment ofthe disclosure;

FIG. 15 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure;

FIG. 16 shows a front view of the stabilizing device as illustrated inFIG. 15;

FIG. 17 shows a lateral view of the stabilizing device as illustrated inFIG. 15;

FIG. 18 shows a top view of the stabilizing device as illustrated inFIG. 15;

FIG. 19 shows a front view of the stabilizing device as illustrated inFIGS. 15-18 carrying a payload in accordance with an embodiment of thedisclosure;

FIG. 20 shows a perspective view of the stabilizing device asillustrated in FIGS. 15-18 carrying a payload in accordance with anembodiment of the disclosure;

FIG. 21 shows a perspective view of a stabilizing device including amotor in accordance with an embodiment of the disclosure;

FIG. 22 shows a front view of the stabilizing device as illustrated inFIG. 21;

FIG. 23 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure;

FIG. 24 shows a front view of the stabilizing device as illustrated inFIG. 23;

FIG. 25 shows a lateral view of the stabilizing device as illustrated inFIG. 23;

FIG. 26 shows a perspective view of a constant force assembly inaccordance with an embodiment of the disclosure;

FIG. 27 shows a lateral view of the constant force assembly asillustrated in FIG. 26;

FIG. 28 shows a perspective view of a tension spring assembly accordingto an embodiment of the disclosure;

FIG. 29 shows an exploded view of the tension spring assembly asillustrated in FIG. 28;

FIG. 30 shows a front view of the tension spring assembly as illustratedin FIG. 28;

FIG. 31 shows a top view of the tension spring assembly as illustratedin FIG. 28;

FIG. 32 shows a lateral view of the tension spring assembly asillustrated in FIG. 28;

FIG. 33 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure;

FIG. 34 shows another perspective view of the stabilizing device asillustrated in FIG. 33;

FIG. 35 shows a top view of the stabilizing device as illustrated inFIG. 33;

FIG. 36 shows a front view of the stabilizing device as illustrated inFIG. 33;

FIG. 37 shows a lateral view of the stabilizing device as illustrated inFIG. 33;

FIG. 38 shows a perspective view of a stabilizing device including amotor in accordance with an embodiment of the disclosure;

FIG. 39 shows a top view of the stabilizing device as illustrated inFIG. 38;

FIG. 40 shows a front view of the stabilizing device as illustrated inFIG. 38;

FIG. 41 shows a lateral view of the stabilizing device as illustrated inFIG. 38;

FIG. 42 shows a lateral view of a stabilizing device including aparallelogram linkage in an orientation in accordance with an embodimentof the disclosure;

FIG. 43 shows another lateral view of a stabilizing device including aparallelogram linkage in another orientation in accordance with anembodiment of the disclosure;

FIG. 44 is an exploded view of a stabilizing device in accordance withan embodiment of the disclosure;

FIG. 45 is a schematic showing principles of a parallelogram linkage inaccordance with an embodiment of the disclosure;

FIG. 46 is a graph showing relationships between support forces in avertical direction and elevations of a payload using a parallelogramlinkage in accordance with an embodiment of the disclosure;

FIG. 47 is a graph showing the effect of locations of two attachmentpoints of a resilient member of a parallelogram linkage on supportforces and elevations of a payload in accordance with an embodiment ofthe disclosure;

FIG. 48 is another graph showing the effect of locations of twoattachment points of a resilient member of a parallelogram linkage onsupport forces and elevations of a payload in accordance with anotherembodiment of the disclosure;

FIG. 49 shows an example of a stabilizing device mounted on objects inaccordance with an embodiment of the disclosure;

FIG. 50 illustrates a movable object in accordance with embodiments ofthe disclosure; and

FIG. 51 is a schematic illustration by way of block diagram of a systemfor controlling a movable object in accordance with embodiments of thedisclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The systems, devices, and methods of the disclosure may enablestabilization of a payload in multiple directions, especially in avertical direction. In particular, the systems, devices and methods ofthe disclosure may provide a stabilizing device capable of providing aconstant force that may be used for equipoising a gravity force of anobject including a payload to be stabilized in the vertical direction.In this way, a resulting net force of the object in the verticaldirection is substantially zero during this balancing or stabilizingprocess. Therefore, the stability of the payload may be significantlyimproved since the jitter or shaking due to gravitational effects couldbe diminished or eliminated, thereby allowing an operator to capturevideography or cinematography in a stable manner.

The stabilizing device herein may include a handle assembly, a payloadstabilization assembly and a constant force assembly. The handleassembly may comprise one or more grips configured to permit a user tohold the stabilizing device. The one or more grips may be adjustablyconnected to a top handle bar or a cross bar of the handle assembly. Insome instances, the handle assembly may comprise a single grip thatallows a user to hold the stabilizing device using only one hand. Thesingle grip may be pivoted such that it may have different orientations,for example, in accordance with the user's preferences. In someembodiments, the handle assembly may be configured to have a variableorientation relative to the constant force assembly. In addition, thehandle assembly may be used as a handle for the payload after the handleassembly is disconnected from the constant force assembly and directlyattached to the payload. As such, the handle assembly may be flexiblyand/or directly connected with the payload for the user to hold whenstabilization is not needed. Additionally, the handle assembly may bedisconnected from the payload and then connected to the other componentsof the stabilizing device for stabilization purposes, for example, toprevent or reduce floating and/or shaking of the payload.

The handle assembly described herein may be electrically connected withother parts of the stabilizing device. A user can use the handleassembly to control the stabilizing device in a variety of ways. Forexample, the handle assembly may include a number of control buttons forcontrolling the movement of the payload, such as the rotation,translation, tilt, ascent, descent, etc. This would be advantageous whenthe payload is an imaging device, such as a camera configured to followan object of interest while shooting, since the quality of thephotography/videography can be improved by reducing the jitter orshaking of the camera in the vertical direction. Additionally, thehandle assembly may be moved such that the stabilizing device may havedifferent form factors, thereby improving the portability andflexibility of the stabilizing device.

The payload stabilization assembly herein may be configured to supportthe payload and permit the payload to rotate about at least one axis ofrotation. To adequately support the payload, the payload stabilizationassembly may include different mechanical structures for stabilizing thepayload stable to avoid jitters or wobbles in a horizontal direction. Insome embodiments, the payload stabilization assembly may comprise asupport bar, a linkage mechanism and multiple support plates thatcollectively forms a claw-like structure for supporting the constantforce assembly and the payload, such that the payload can move steadilyin the vertical direction. The support bar may support the linkagemechanism which may then carry or support the payload. The payloadstabilization assembly may further include a multiple-axis gimbalcoupled to the payload, that allows the payload to rotate about multipleaxes, for example, in a pitch, a yaw or a roll axis, or any combinationthereof.

The constant force assembly herein may be operably connected to thehandle assembly and configured to support the payload stabilizationassembly. Further, the constant force assembly may be configured toprovide a force that equipoises a gravity force of the payloadstabilization assembly with the payload in a vertical direction, suchthat a net force of the payload stabilization assembly with the payloadin the vertical direction is substantially zero. In some embodiments,the constant force assembly may comprise a parallelogram linkage with aresilient member (such as a plurality of springs) positioned proximatelyalong a diagonal of the parallelogram linkage and four pivots positionedrespectively at the four corners of the parallelogram linkage.Attachment points of the resilient member may be selected such thatdifferent forces may be generated for supporting the payload tocounteract gravitational force in the vertical direction. In someembodiments, the resilient member may be a constant force spring. Theconstant force spring may comprise a tension spring comprising a rolledmetal strip and a spool. Additionally or alternatively, the constantforce spring may comprise a volute spring connected with a spiral cam.

The stabilizing device as described above may further include a varietyof sensors. The sensors may recognize movement of the handle assembly,the payload, and the constant force assembly. The sensors may beattached to the handle assembly, frame components, and/or actuatormechanisms, such as one or more motors. The sensors may communicateinformation to a processor on board or off board the stabilizing device.The processor may use the information from the sensors to detect achange in the orientation of the handle assembly and the payload andcause a subsequent change in the orientation and/or control of at leastone of the motors on the stabilization device.

Embodiments of the disclosure are described below with reference to theaccompanying drawings.

FIG. 1 shows a high level schematic of a stabilizing device 101 inaccordance with an embodiment of the disclosure. The stabilizing device101 may include a handle assembly 102 which may include one or moregrips 103 and 104, a payload stabilization assembly 105, and a constantforce assembly 106. As shown in FIG. 1, the handle assembly may alsocomprise a top handle bar 107. The payload stabilization assembly andthe constant force assembly may be carried by or detachably attached tothe top handle bar. The stabilizing device may be configured tostabilize a payload 108 in various directions, especially in a verticaldirection.

The handle assembly may be made from a metallic, composite, or plasticmaterial, such as carbon fiber. In some embodiments, the grips mountedto the top handle bar of the handle assembly may be adjustable toprovide comfort for the user's grip. The number of grips may be providedbased on one or more factors, such as a size, volume, height of thepayload to be stabilized, different application requirements and thelike. For example, for light or small payloads, a single grip, such asthe grip shown in FIGS. 33 and 34, may be sufficient for holding andstabilizing purposes. Conversely, for heavy payloads, an additional gripmay be mounted to the top handle bar, for example at the middle portionof the top handle bar.

Depending on the type of applications, control buttons may or may not beprovided on the handle assembly for controlling the stabilizing device.For example, in some embodiments, such as a handle assembly with twogrips, control over the payload may be implemented using one or moresensors or actuator mechanisms on board the stabilizing device.Alternatively, control over the payload may be implemented using aremote controller via wired or wireless communications. In someembodiments in which the handle assembly has a single grip, such as thegrip shown in FIGS. 33 and 34 and FIGS. 42 and 43, a plurality ofcontrol buttons may be provided on the handle assembly as a controlpanel. In this way, the user can control the operations of the payloadwhile the payload is working, such as shooting or taking photos, whenthe payload is a camera.

The top handle bar, which may act as a frame assembly, may have aplurality of frame components. The frame components may be rigid parts.The frame components may be configured to move relative to each other.The movement of the components may be about a joint. For example, thejoint may be a hinge, ball and socket, plane joint, saddle, or pivot.Movement of the frame components may be controlled by one or moremotors. Optionally, one or more motors may be provided at the jointsbetween the components. Each frame component may be moved by one motoror a plurality of frame components may be moved by a single motor. Framecomponents may be rotated about an axis. Each component may rotate aboutone, two, three, or more axes. The axis of rotation may be defined in afixed or non-fixed reference frame. Additionally, the frame componentsmay be configured to translate in at least one direction. The joints mayfurther comprise Hall sensors which may detect the position, and/orrotation of the frame components relative to each other at each jointlocation.

The payload stabilization assembly may be used for stabilizing thepayload such that the payload moves substantially in a verticaldirection, instead of floating or moving around. Therefore, the payloadstabilization assembly may include a vertical moving linkage to ensurevertical translation of the payload. The vertical moving linkage may beconfigured to restrict unwanted movement of the payload. For example, insome embodiments, the vertical moving linkage may be implemented as aclaw-like structure, such as those shown in FIGS. 9-13, as described indetail later in the specification. In some embodiments, the payloadstabilization assembly may be implemented as a guiding structure, forexample as shown in in FIG. 14. The structure of the payloadstabilization assembly may be further simplified, for example, to asupport plate or base for supporting the payload, such as those shown inFIGS. 42 and 43.

The constant force assembly may be operably connected to the handleassembly, for example, the top handle bar of the handle assembly, andmay be configured to support the payload stabilization assembly. Asmentioned before, the constant force assembly may be configured toprovide a force that equipoises a gravity force of the payloadstabilization assembly with the payload in a vertical direction, suchthat a net force of the payload stabilization assembly with the payloadin the vertical direction may be substantially zero. The force asprovided may be a resilient force generated by any suitable resilientmembers. Therefore, the constant force assembly may be designed to havedifferent structures for providing such a constant force.

In some embodiments, the constant force assembly may be implementedhaving a volute spring connected with a spiral cam. The resilient forceoutput by the volute spring may equipoise the gravity force of thepayload stabilization assembly and the payload, such that a net force ofthe payload stabilization assembly with the payload in the verticaldirection is substantially zero. One possible design of a volute springand a spiral cam is shown in FIGS. 2-8. Additionally or alternatively, adriving unit or mechanism, such as a motor, may be added to drive thepayload together with the payload stabilization assembly to return orstop at an expected position. In some embodiments, the constant forceassembly may be designed as a combination of a tension spring and arotatable wire spool, one example of which is illustrated in FIGS.23-31. In some embodiments, the constant force assembly may beimplemented having a constant force spring which may be capable ofexerting a substantially constant force over its entire range ofextension to counteract the gravitational force on the payloadstabilization assembly with the payload. One possible design of aconstant force spring is shown in FIGS. 33 and 34, which will bedescribed in detail later in the specification. The constant forcespring may be further driven by a driving unit, such as a motor, to movethe payload stabilization and the payload to return or stop at anexpected position. An example of this actuation is illustrated in FIGS.38-41.

The payload may be supported or carried by the payload stabilizationassembly, and directly or indirectly connected with the constant forceassembly. The payload may be, for example, a camera, a sensor, apassenger, or cargo. In some instances, when embodied as a sensor, thepayload may comprise: location sensors (e.g., global positioning system(GPS) sensors, mobile device transmitters enabling locationtriangulation), vision sensors (e.g., imaging devices capable ofdetecting visible, infrared, or ultraviolet light, such as cameras),proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flightcameras), inertial sensors (e.g., accelerometers, gyroscopes, inertialmeasurement units (IMUs)), altitude sensors, pressure sensors (e.g.,barometers), audio sensors (e.g., microphones) or field sensors (e.g.,magnetometers, electromagnetic sensors). Sensors of different types maymeasure different types of signals or information (e.g., position,orientation, velocity, acceleration, proximity, pressure, etc.) and/orutilize different types of measurement techniques to obtain data.

In an example, the payload may include a camera. The camera may be afilm or digital camera. The camera may be able to capture videorecordings or still photographs. The camera may be a micro lens camera,a point and shoot camera, a mobile phone camera, a professional videocamera, or a camcorder. The camera settings may be controlled by theuser via a remote control or user input components built into thestabilizing device. Examples of camera settings may be white balance,aperture size, shutter speed, focal length, zoom, or ISO sensitivity.Further, to enable the camera to shoot in any direction, a gimbalsupporting multiple-axis rotation may be introduced to support or carrythe camera. In this manner, when performing the stabilizing operationsdescribed elsewhere herein, the stabilizing device carrying the cameramay permit the operator to capture videography or cinematography in astable manner.

The processor may be configured to automatically calculate and/ordetermine a desired payload orientation without requiring additionalinput from an external device or user. In some instances, the desiredpayload orientation may remain substantially constant with respect tothe top handle bar or frame assembly used as a reference frame.Alternatively, the desired payload orientation may change with respectto the top handle bar. In other embodiments, the desired payloadorientation may be calculated and/or determined based on a signalreceived from an external device, such as a remote control. Similarly,the desired payload orientation may be calculated and/or determinedbased on a signal received from a user input interface of the handleassembly, such as one or more control buttons arranged on the handleassembly. For example, the operator of the stabilization platform oranother individual operating an external device or remote control mayprovide input regarding the orientation of the payload with respect tothe top handle bar.

FIG. 2 shows a front view of a stabilizing device 200 in accordance withan embodiment of the disclosure. The stabilizing device may comprise apayload stabilization assembly having a claw-like structure, a constantforce assembly comprising a cam and a volute spring, and a handleassembly including a top handle bar and two grips each mounted at thecorresponding end of the top handle bar.

As illustrated in FIG. 2, the stabilizing device 200 may include ahandle assembly 201 having a top handle bar 202 and two grips 203 and204, a constant force assembly 205, and a payload stabilization assembly206 mounted on and supported by the top handle bar via pipe clamps207-209. A gimbal 210, as a payload for the stabilizing device, may bedetachably connected to the payload stabilization assembly. The gimbalmay be further connected with the constant force assembly by a drawingmember 211, such as a bracing wire, a steel cable, or a pulling line atan output end of the constant force assembly. The gimbal may beconfigured to carry a camera 212, which may be able to rotate in one ormore (e.g., three) different axes based on the driving forces from thegimbal. The lifting power or support force from the payloadstabilization assembly and the constant force assembly can equipoise thegravity force exerted on the payload including the gimbal and the cameraconnected thereto with the payload stabilization assembly, therebybalancing and stabilizing the camera in a vertical direction. For abetter understanding of the stabilizing principles of the disclosure,FIGS. 3 and 4 are also provided which show a perspective view of thestabilizing device and a lateral view of the stabilizing device asillustrated in FIG. 2, respectively.

The following will discuss the details of one example of the constantforce assembly as above with reference to FIGS. 5-8.

FIG. 5 shows a perspective view of a constant force assembly including acam and a spring in accordance with an embodiment of the disclosure. Theconstant force assembly depicted in FIG. 5 may be similar to theconstant force assembly 205 shown in FIG. 2. As shown in FIG. 5, theconstant force assembly may include a pipe clamp 209 for securing theconstant force assembly to a top handle bar, a manual adjustment knob501 with a lead screw, a worm and gear 502, a spiral cam 503, a volutespring 504, a bracing wire support bracket 505, and a bracing wire 211for connecting the payload or the payload stabilization assembly. Thespiral cam and the volute spring may be connected to each other by ascrew or a stop block. By adjusting the manual adjustment knob, the wormand gear may pre-tighten the volute spring. Upon pre-tighteningoperations by the worm and gear via the manual adjustment knob, thevolute spring may have a preload force, which may drive the spiral camto pull the bracing wire, thereby transferring a resilient force of thevolute spring into a pulling force transferred by the bracing wire forcounteracting the gravitational force on the payload and the payloadstabilization assembly. For further clarity, FIG. 6 is provided toillustrate a back view of the constant force assembly and FIG. 7 isprovided to illustrate a different perspective view of the constantforce assembly.

FIG. 8 shows an exploded view of the constant force assembly includingthe cam and the spring illustrated in FIGS. 5-7 in accordance with anembodiment of the disclosure. As illustrated in FIG. 8, the constantforce assembly herein may include a box or housing 801 for enclosing theworm and gear 502, the spiral cam 503, and the volute spring 504,resulting in easy installation and carrying (greater portability).Further illustrated in FIG. 6 are one or more bearings 804 forsupporting the bracing wires, two bearing fixed blocks 805 for securingand supporting the lead screw, a spring fixing shaft 802 for securingthe volute spring, and multiple bearings 803 for connecting the worm andgear, the spiral cam and the volute spring together. For example, thespiral cam and the volute spring may be connected with each other by ascrew, a clip, a fastener, or other mechanical connection mechanism at alocation indicated by 806. The volute spring may be pivotally connectedwith the worm and gear assembly such that the manual adjustment knob maymanually adjust the volute spring via the worm and gear assembly.Through the force applied by the worm and gear assembly, the volutespring may have an initial resilient force or preload force, which maybe transferred to the spiral cam. A drawing member, such as the bracingwire (e.g., steel cables) as illustrated herein may be attached to thespiral cam and wound around the spiral cam, and directly connect orindirectly connect via the payload stabilization assembly to thepayload. In this way, the resilient force provided by the volute springmay be converted into a constant pulling force for equipoising thegravity force of the payload with the payload stabilization assembly,such that a net force of the payload stabilization assembly with thepayload in the vertical direction is substantially zero.

Since the volute spring can provide variable forces and the force keepsincreasing as the volute spring stretches (i.e., rotates), in order toobtain a constant torque which may produce a constant force to equipoisea corresponding gravity force, a radius of the spiral cam should bedesigned accordingly. For example, when the volute spring generates arelatively big force due to its elastic deformation or rotation, thespiral cam should be designed as having a corresponding small radius.Likewise, when the volute spring generates a relatively small force dueto its elastic deformation or retraction, the spiral cam should bedesigned as having a corresponding big radius. In this manner, aconstant torque may be generated for counteracting the gravity forcefrom the payload and the payload stabilization assembly. Thus, in someembodiments, a formation (e.g., a shape having variable radiuses) of thespiral cam may be designed based on a relationship between a resilientforce and a rotation angle of the volute spring, thereby allowing aclose fit or matching between the spiral cam and the volute spring.

An example of the constant force assembly has been described above withreference to FIGS. 5-8. The following will describe in detail, withreference to FIGS. 9 and 10, one example of the payload stabilizationassembly illustrated in FIGS. 2-4, i.e., a claw-like structurecomprising multiple pairs of link bars.

FIG. 9 shows a front view of a payload stabilization assembly beingmounted on a handle assembly in accordance with an embodiment of thedisclosure. The payload stabilization assembly in FIG. 9 may be similarto the payload stabilization assembly 206 shown in FIG. 2. As previouslydescribed, in some embodiments, the payload stabilization assembly mayinclude a vertical moving linkage to ensure or permit the payload tomove steadily in the vertical direction, instead of shifting ordeviating from the vertical direction.

The vertical moving linkage depicted in FIG. 9 may comprise two pairs oflink bars, each pair of link bars including an upper link bar 904 and alower link bar 905. One end of the upper link bar and one end of thelower link bar may be pivotally connected at a variable angle andanother end of the upper link bar may be secured or attached to the tophandle bar 901 by a pipe clamp 903. Another end of the lower link barmay be attached to a support platform 906, to which the payload may bedetachably connected. An attachment point or hole may be arranged on thesupport platform such that the drawing member, e.g., the bracing wire orsteel cable, may be tied to the attachment point or passed through thehole and attached beneath the support platform. In this manner, when theuser is holding the grips 902, unstable movement in the verticaldirection may be counteracted by the lifting power generated by theconstant force assembly. The connecting configurations illustrated inFIG. 9 are only for illustrative purposes, and it is understood thatthere are other suitable connecting approaches to connect the upper linkbar and low link bar together or connect the link bar to the top handlebar or the support platform. For example, other than the hingedconnection (that connects between the upper and lower link bars), athreaded connection, a bearing connection or a clamp connection may beselectively used to connect the link bars, the support platform, and thetop handle bar together. For a better understanding of the verticalmoving linkage, FIG. 10 is provided to show another perspective view ofthe payload stabilization assembly being mounted on the handle assemblyas illustrated in FIG. 9, with more details about the vertical movinglinkage.

FIG. 11 shows a perspective view of a payload stabilization assemblybeing mounted on a handle assembly in accordance with another embodimentof the disclosure. It can be seen that the vertical moving linkage asillustrated in FIG. 11 may be similar to the one shown in FIG. 10,except for an additional (or a third) pair of link bars 1101 whoselongitudinal section may be perpendicular to the top link bar. The othertwo pairs of link bars may be symmetrical about the longitudinal sectionof the additional (or third) pair of link bars. The pair of link bars1101 may also be connected to the top handle bar by a pipe clamp or anyother suitable fasteners. The lower link bar of the link bars 1101 mayalso be connected to the support platform. By introducing an additionalpair of link bars, the stabilizing effect can be increased and thejitter or shaking caused by a payload with a heavy weight in thehorizontal direction can be reduced. For further clarity, FIGS. 12 and13 are provided which respectively show additional details of the threepairs of link bars, wherein FIG. 12 shows another perspective view ofthe payload stabilization assembly and FIG. 13 shows a front view of thepayload stabilization assembly as illustrated in FIG. 11.

FIG. 14 shows a perspective view of a payload stabilization assemblybeing mounted on the handle assembly in accordance with an embodiment ofthe disclosure. In particular, the payload stabilization assemblydepicted in FIG. 14 may include a guiding rail mechanism which maycomprise parallel upper guiding rails 1402 and parallel lower guidingrails 1404, wherein the upper guiding rails may be sheathed into thelower guiding rail which may act as a sliding block and move a supportplatform 1405 in the vertical direction, for example, when the userholds grips 1403. For example, in some embodiments, one end of theguiding rail is connected with a top handle bar 1401 and another end ofthe guiding rail is operably connected with the payload, for example viaa support platform. In some embodiments, instead of arranging twoopposite guiding rails, a single one guiding rail may be used to directthe payload to move stably in the vertical direction. For example, agimbal for supporting multiple-axis rotation may be coupled to thesupport platform and a camera connected with the gimbal may move up anddown based on the lifting power provided by the constant force assembly,equipoising the vertical jitter caused by the gravity forces of thecamera, the lower guiding rails, and the support platform.

FIG. 15 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure. The stabilizing device in FIG. 15may be similar to those illustrated in FIGS. 2-4, except the constantforce assembly in FIG. 15 is placed at a different side of the tophandle bar compared to those shown in FIGS. 2-4. Further, in order tomore clearly illustrate the stabilizing device of the disclosure, thepayload has been omitted from FIG. 15. For further clarity, FIGS. 16-18show a front view, a lateral view and a top view of the stabilizingdevice as illustrated in FIG. 15, respectively. Further, FIGS. 19 and 20show different views of the stabilizing device after a payload, such asa camera depicted herein, is supported by the payload stabilizationassembly.

FIG. 21 shows a perspective view of a stabilizing device including amotor in accordance with an embodiment of the disclosure. Thestabilizing device illustrated in FIG. 21 may be similar to thestabilizing device shown in FIGS. 15-18 expect in FIG. 21, a drivingunit, such as a motor, may be mounted on the top handle bar. The outputshaft of the motor may drive the drawing member, such as the bracingwire or steel cable to move at a suitable speed and may return to anexpected location. For example, by setting the rotational speed of themotor, the rotation of the output shaft of the motor may assist theconstant force assembly in supporting the payload and the payloadstabilization assembly by increasing the lifting power and enable thepayload to stop at an appropriate location, for example, above a firstthreshold height in order to maintain the elasticity of the stabilizingdevice, and below a second threshold height to prevent the payload fromcrashing into the top handle bar. The front view of the stabilizingdevice including the motor is shown in FIG. 22 for illustrativepurposes.

A motor as described herein may be an AC motor or a DC motor. Anydescription herein of a motor may apply to any type of motor or otheractuator. Motors may be direct drive motors. Other examples of types ofmotors may include, but are not limited to brushed or brushless motors,servomotors, switched reluctance motors, stepper motors, or any othertypes of motors. The motor may be powered by an energy source, such as abattery system, on the stabilizing platform. Alternatively the motor maybe powered by a power cord connected to an external power source.

FIG. 23 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure. It can be seen that thestabilizing device depicted in FIG. 23 may be different from thestabilizing device shown in FIG. 2 due to a different constant forceassembly. The constant force assembly may include a tension spring 2301,a spring adjusting device 2302, a first drawing member 2303, a rotatablewire spool 2304, a cam 2305, a second drawing member 2306, a top handlebar 2307, and grips 2309. The stabilizing device may support a payload2308, which is shown as a gimbal supporting a camera. The output end ofthe tension spring may be connected to the cam via a first drawingmember, such as the bracing wire or steel cable. The cam may beconnected with the rotatable wire spool by a bearing connection, suchthat either one may cause the other to rotate when unstable movementsoccur in the vertical direction. In some embodiments, based on theresilient force generated by the tension spring, the cam or therotatable wire spool may drive each other to rotate clockwise orcounterclockwise depending on the translation direction of the payloadin the vertical direction, i.e., moving upwards or moving downwards. Forexample, when the user accidentally moves the handle assembly upward,due to the inertial property of a payload, the rotatable wire spool mayrotate in a clockwise direction, which may drive the cam to rotate inclockwise direction as well. The tension spring would then be stretched,thereby storing the energy. Likewise, when the user accidentally movesthe handle assembly downward, due to the inertial property of a payload,the rotatable wire spool may rotate in a counterclockwise direction,which may drive the cam to rotate in the counterclockwise direction aswell. The tension spring would then be retracted, thereby releasing theenergy. In this way, the lifting power as transferred on the seconddrawing member may equipoise the gravity force of the payload togetherwith the payload stabilization assembly, such as the two pairs of linkbars illustrated, such that a net force of the payload stabilizationassembly with the payload in the vertical direction is substantiallyzero. The front and lateral views of the stabilizing device illustratedin FIG. 23 are respectively shown in FIGS. 24 and 25.

FIG. 26 shows a perspective view of a constant force assembly inaccordance with an embodiment of the disclosure. The constant forceassembly illustrated in FIG. 26 may be similar to the constant forceassembly shown in FIGS. 23-25 except for the spring adjusting device isomitted in FIGS. 23-25. A fixed end of the tension spring is secured bya pipe clamp via a sleeve bearing and a free end of the tension springis tied to one end of a first drawing member 2303. Another end of thefirst drawing member is tied to the cam 2306 at a location indicated by2602 which is beneath a rotatable wire spool and rotatably connectedthereto by a bearing connection or a location pin. When the payload iscarried directly or indirectly by a second drawing member 2305 whichruns over the rotatable wire spool starting at a location indicated by2601, the rotation of the rotatable wire spool, due to vertical unstablemovements, may cause the cam beneath the rotatable wire spool to rotatein the same direction, thereby causing the tension spring to stretch orretract. Therefore, the second drawing member may drive the payload tomove up and down such that a net force of the payload with the payloadstabilization assembly may be substantially zero. The lateral view ofthe constant force assembly as described above is provided in FIG. 27.

FIG. 28 shows a perspective view of a tension spring assembly accordingto an embodiment of the disclosure. The tension spring assembly depictedin FIG. 28 may be similar to the tension spring assembly shown in FIG.23 and includes more details about the components therein. Asillustrated in FIG. 28, the tension spring assembly may include a springrate adjusting clamp 2801, a spring rate scale plate 2802, a spring rateadjusting plate 2803, a pre-tightening adjusting plate 2804, a tensionspring 2805, a bearing sleeve 2806 and a pipe clamp 2807. Depending onthe magnitude of the gravitational force on the payload with the payloadstabilization assembly, a user may adjust the spring rate of the tensionspring before mounting it on the top handle bar. For example, by usingthe spring rate adjusting clamp to clamp the tension spring and puttingthe spring rate adjusting plate at an appropriate location according tothe scales as indicated by the spring rate scale related to the weight,the user may divide the tension spring into two sections and obtain anappropriate spring rate. A first section, such as from the bearingsleeve to the pre-tightening adjusting plate, would be used in the forceequipoising operations. Conversely, a second section, such as from thespring rate adjusting plate to the fixed end of the tension spring, neednot be used in the force equipoising operations. The pre-tighteningadjusting plate may fasten the tension spring on the pipe clamp, whichmay then be mounted on the top handle bar. Based on the pre-tighteningoperation of the pre-tightening adjusting plate, the tension spring mayhave a preload force which may be used to counteract the gravitationalforce on the payload with the payload stabilization assembly. Theexploded view, the front view, the top view, and the lateral view of thetension spring assembly as described above are respectively shown inFIGS. 29, 30, 31, and 32 for illustrative purposes.

It is to be understood that the constant force assemblies describedherein (such as a cam and a spring) are merely exemplary and othersuitable mechanical structures may also be used. For example, instead ofusing a tension spring or volute spring, a constant force spring may beused for providing the constant force, such as those shown in FIGS.33-41.

FIG. 33 shows a perspective view of a stabilizing device in accordancewith an embodiment of the disclosure. The stabilizing device in FIG. 33may include a handle 3301, a support bar 3302, a low link bar 3303, asetscrew 3304, a first bearing 3305, an upper link bar 3306, a secondbearing 3307, a bearing base 3308, a rotating shaft 3309 of a constantforce spring, a constant force spring 3310, an upper support plate 3311,a stop block 3312, and a lower support plate 3313. The setscrew may beused to connect the upper link bar with the lower link bar. The secondbearing supported by the bearing base may be used to support therotating shaft of the constant force spring. For further clarity,another perspective view of the stabilizing device herein is provided inFIG. 34 and a top view, a front view and a lateral view of thestabilizing device herein are respectively provided in FIGS. 35-37.

It can be understood from the depiction herein that a constant forceassembly may comprise the constant force spring exerting a substantiallyconstant force over its entire range of extension to equipoise thegravity force of a payload stabilization assembly with a payload. Theconstant force spring may comprise a rolled metal strip and a spool, andan outer end of the rolled metal strip is connected to the payloadstabilization assembly. The structure of the constant force spring maybe designed to provide an approximate constant force. As the constantforce spring elongates within its operating range, the pulling force mayincrease but the variations of the pulling force are relatively small,thereby balancing the gravitational force on the payload with thepayload stabilization assembly. During this process, an elastic force ofthe constant force spring may be customized or a mass block may beintroduced to fine adjust the balanced gravitational force such that anequilibrium point would be at the middle of the stroke length.

The payload stabilization assembly may further comprise the support bar,a linkage mechanism similar to those discussed with reference to FIGS. 9and 10, the upper support plate for supporting the constant forceassembly which includes the constant force spring, and the lower supportplate for supporting a payload, wherein one end of the support bar isattached to the handle assembly and another end of the support bar isattached to the linkage mechanism for securing the payload in thevertical direction such that the payload moves steadily in the verticaldirection.

The linkage mechanism herein may comprise two pairs of link bars at anangle to each other (for example, about 90 degrees), and disposedsymmetrically about the support bar, for example, about the longitudinalsection of the support bar. The upper link bar and the lower link barmay be connected with one other by a bearing connection. In someembodiments, one end of the lower link bar and the corresponding one endof the upper link bar may be pivotally connected with one another at anangle. Another end of the upper link bar may be attached to the uppersupport plate and another end of the lower link bar may be attached tothe lower support plate. This arrangement of the linkage mechanism mayensure that the payload, which may be supported by the lower supportplate, may only move in the vertical direction instead of moving aroundin other directions.

The payload may comprise a gimbal connector 3314, a gimbal 3315 and acamera 3316. The gimbal connector may be used for detachably connectingthe gimbal to the lower support plate and the camera may be carried orsupported by the gimbal.

In some embodiments, the handle assembly and the payload may beelectrically connected with one another through electrical wiringpassing through the constant force assembly. A user can use the handleassembly to control the movement of the payload. This would beadvantageous when the payload is a gimbal carrying a camera, just asshown in FIG. 33. For example, a number of control buttons may beprovided on the handle assembly as a control panel. A user, by pressingone or more control buttons, may control the rotation of the camera indifferent axes, such as a pitch axis, a yaw axis and a roll axis, whilecapturing the videography or cinematography. Due to the stabilizingeffect, the camera would become more stable in a fourth axis (i.e., avertical axis) in addition to the previous three axes, i.e., a pitchaxis, a yaw axis and a roll axis.

To detect or control the movement or rotation of the payload, in someembodiments, the stabilizing device may comprise a set of sensors thatmay detect rotations of the payload. The stabilizing device may havesensors on the support bars, link bars, handle assemblies, and/ormotors, that may detect the rotation of the payload about at least onerotation of axis, such as one or more of the yaw, roll, and pitch axes.For example the sensors may be inertial sensors (e.g., positional orangular displacement sensors, velocity sensors, accelerometers,gyroscopes, and magnetometers), capacitive sensors, Hall sensors, or anyother types of sensors as described elsewhere herein.

In some instances, the sensors may be capable of detecting linear and/orangular displacement, linear velocity and/or angular velocity, or linearor angular acceleration. The sensors may or may not be provided on anyportion of the handle assembly, such as a grip, handle bar, bar, or anyother portion. The sensors may or may not be provided on one, two, threeor more of the motors. The sensors may or may not be provided on thepayload. A processor onboard or off-board the stabilizing device mayinterpret the sensor data to detect a rotation about a rotation of axis,such as a yaw, roll, or pitch axis. Sensor data from any component ofthe stabilizing device may be used to detect positional informationand/or rotation of the component. Sensor data from multiple componentsmay be gathered and/or compared. In some instances, the sensor data fromthe components may be used to determine motion of the payload relativeto the handle assembly or vice versa, motion of the payload relative toa fixed reference frame, motion of the handle assembly relative to thefixed reference frame, motion of any of the frame components relative tothe fixed reference frame or any variation or combination thereof.

When a processor detects a rotation of the handle assembly indicating achange from a first mode/configuration to a second mode/configuration,the processor may change the motor control orientation. For example in afirst mode a first motor may control the yaw axis rotation and a secondmotor may control the roll axis rotation. When the processor detects achange from a first mode to a second mode, the processor may switch themotor control such that a first motor may control the roll axis rotationand a second motor may control the yaw axis rotation. In a first andsecond mode, the pitch axis motor control may not change such that athird motor may control the pitch axis rotation in both the first modeand second mode.

FIG. 38 shows a perspective view of a stabilizing device including amotor in accordance with an embodiment of the disclosure. Thestabilizing device in FIG. 38 may be similar to the one shown in FIGS.33-37 except that a motor 3081 is disposed on the upper support platefor driving the constant force spring. In some embodiments, toaccurately control the rotating speed of the motor, a speed control unit3802 may also be arranged on the stabilizing device, such as on theupper support plate. In some embodiments, based on instructions from oneor more on-board or off-board processors, the speed control unit maycontrol the rotation of the motor, for example, by increasing ordecreasing the rotating speed. The rotation of the motor may drive thewhole payload to return to an expected position, for example a middlepart of the stroke length of the constant force spring, therebycontrolling the movement of the payload in the vertical direction andimproving the stabilization effect. For further clarity, a top view, afront view, and a lateral view of the stabilizing device arerespectively provided in FIGS. 39-41.

A motor as described herein can be an AC motor or DC motor. Anydescription herein of a motor may apply to any type of motor or otheractuator. Motors may be direct drive motors. Other examples of types ofmotors may include, but are not limited to brushed or brushless motors,servomotors, switched reluctance motors, stepper motors, or any othertypes of motors. The motor may be powered by an energy source, such as abattery system, on the stabilizing platform. Alternatively the motor maybe powered by a power cord connected to an external power source.

In addition to the motor that permits the payload to move in a stablemanner in the vertical direction (as described above), each rotationaxis of the payload may also be controlled by a motor. For instance, afirst motor may effect rotation about a yaw axis, a second motor mayeffect rotation about a roll axis, and a third motor may effect rotationabout a pitch axis. The rotation axes of the motors may change dependingon various configurations and modes of operation. For example, in themodes where the stabilizing devices according to embodiments of thedisclosure are held by a user using both hands, such as those shown inFIGS. 2-4 and 23-25, a first motor may control the yaw axis rotation, asecond motor may control the roll axis rotation, and a third motor maycontrol the pitch axis rotation. Alternatively, in a mode where thestabilizing device is held by a user using only one hand, such as thoseshown in FIGS. 33-41, a first motor may control the roll axis rotation,a second motor may control the yaw axis rotation, and a third motor maycontrol the pitch axis rotation.

FIG. 42 shows a lateral view of a stabilizing device including aparallelogram linkage in an orientation in accordance with an embodimentof the disclosure. It can be seen that the stabilizing deviceillustrated in FIG. 42 may carry or support a gimbal 4201 with a cameraplaced thereon. As illustrated, the stabilizing device may include afirst long link bar 4202, a damper 4203, a gimbal support 4204, a firstshort link bar 4205, a spring 4206, a second long link bar 4207, asecond short link bar 4208, an adjusting nut 4209, an adjustment knob4210, and a rotating hinge 4211, and a handle assembly 4212.

The first short link bar may be connected with the gimbal system via thegimbal support, and the second short link bar may be connected with thehandle assembly. The spring may be obliquely connected between the shortlink bar and the long link bar. A stress analysis of this structurereveals that a vertical and lifting force may be generated at the end ofthe long link bar (i.e., at the first short link bar) by adjustingparameters and connecting locations of the spring, and this force may beadjusted as a constant-force approximately equal to a weight to bebalanced or equipoised. Therefore, the stabilizing device may beequivalent to a spring-based dampening system with a weak spring rate,for diminishing the jitter in the vertical direction caused by e.g.,human walking, climbing, jumping, or the like. The damper may be used toabsorb the energy of the whole system and avoid resonance. In someinstances where the system has weak stiffness and requires smalldamping, it would be hard to cause resonance and therefore the dampermay be removed or the damping may be provided by increasing the frictionat the hinged joint of the linkage instead of using a separate damper.In some embodiments, the handle and payload (such as the gimbal systemherein) may be dampened as a whole to achieve a better stability.

As illustrated, the two long link bars and two short link bars mayconstitute a parallelogram linkage with 1) a resilient member (such as aspring) positioned proximately along a diagonal of the parallelogramlinkage and 2) four pivots, each of which may be positioned at adifferent one of four corners of the parallelogram linkage, i.e., at ajoint of the long link bar and the short link bar. The parallelogramlinkage may serve as a constant force assembly according to embodimentsof the disclosure. In some embodiments, the spring may be a tensionspring having a first end and a second end, and the first end may beattached to the second long link bar at a first attachment point and thesecond end may be attached to a connector between two pivots that areadjacent to the handle assembly at a second attachment point. Theconnector may be the adjusting nut as depicted. The adjusting nut may bemovably connected with the adjustment knob and the adjustment of theadjustment knob may cause the adjusting nut to move up and down in thevertical direction, thereby changing height of the second attachmentpoint in the vertical direction relative to the pivot. An approximatelyconstant force opposite to the gravitational force on the payload may begenerated using the oblique pulling of the spring.

The force provided by the parallelogram linkage may be determinedaccording to one or more parameters of the tension spring, structuralparameters of the parallelogram linkage and positions of the first andsecond attachment points. In some embodiments, the one or moreparameters of the tension spring may comprise at least one of a meancoil diameter, a wire diameter, and the number of coils. In someembodiments, the parallelogram linkage may be configured to have anatural frequency which may be low enough to reduce or eliminatelow-frequency jitter in the vertical direction.

The handle assembly may comprise a single grip which may be hinged tothe constant force assembly such that the single grip has a variableorientation relative to the constant force assembly. For example, bypartially rotating the grip, it may be oriented perpendicularly to theparallelogram linkage, such as shown in FIG. 42, or collinear to theparallelogram linkage, such as shown in FIG. 43. The orientation may beselected according to the user's preference.

In some embodiments, the handle assembly may be used as a handle for thepayload after the handle assembly is disconnected from the constantforce assembly and directly attached to the payload. For example, afterremoving the parallelogram linkage and the gimbal support, the gimbalmay be directly connected to the grip and therefore the user may holdthe grip to perform shooting without taking into account the jitter inthe vertical direction. This would be convenient for shooting in anenvironment where such jitter less occurs, for example, moving indoorsor crossing flat lands.

FIG. 44 is an exploded view of a stabilizing device carrying a payloadin accordance with an embodiment of the disclosure.

As illustrated in FIG. 44, a gimbal system 4401 including a camera andmultiple motors, a fast release inner ring 4402, a first fast releaseexternal ring 4403, a gimbal connecting circuit board 4404 for providingpower supply or transmitting various control signals and a firstconnector 4405, which may be connected sequentially on a gimbal supportby snap joints or threaded fasteners with possible one or more insidelocking blocks or stop blocks. To support the electrical connectionbetween the handle assembly 4414 and gimbal system, flexible printedcircuit (FPC) wiring 4408 may be arranged at the bottom of theparallelogram linkage 4407 for signal transmission between the handleassembly and the gimbal system. A linkage support 4409 of theparallelogram linkage may be connected with a handle connector 4410, ahandle connecting circuit board 4411, a second connector 4412, and asecond fast release external ring 4413 by snap joints, or threadedfasteners with possible one or more inside locking blocks or stopblocks. Upon completing the assembly of all the components, a user mayhold, via the handle assembly, the stabilizing device with theparallelogram linkage to conduct shooting, for example, videography in astable manner.

FIG. 45 is a schematic showing a parallelogram linkage in accordancewith an embodiment of the disclosure. It can be seen the parallelogramlinkage in FIG. 45 may be similar to the parallelogram linkage shown inFIGS. 42-44.

As previously described, the parallelogram linkage may comprise fourpivots and a resilient member obliquely arranged within theparallelogram linkage. The four pivots may include a first pivot 4501, asecond pivot 4502, a third pivot 4503, and a fourth pivot 4504. Theattachment points of the resilient member (e.g., a spring as shown) maycomprise a first attachment point 4505 and a second attachment point4506.

The first pivot and the second pivot are configured to be proximal tothe handle assembly and vertically aligned with each other at an initialstate. The third pivot and the fourth pivot are configured to beproximal to the payload stabilization assembly and vertically alignedwith each other at the initial state. The second pivot may be higherthan the first pivot in the vertical direction, and the fourth pivot maybe higher than the third pivot in the vertical direction. In someembodiments, the resilient member is a tension spring having a first endand a second end, and the first end is attached to a connecting rod (forexample, the second long link bar 4207 in FIG. 42) connecting the firstpivot and third pivot at a first attachment point proximal to the thirdpivot, and the second end is attached to a connector (for example, theadjusting nut 4209 in FIG. 42) between the second pivot and first pivotin the vertical direction at a second attachment point. In someembodiments, the connector may be moveably connected with an adjustmentknob and the adjustment of the adjustment knob may cause the connectorto move up and down in the vertical direction, thereby changing theheight of the second attachment point in the vertical direction relativeto the first pivot.

As further illustrated in FIG. 45, “a” indicated at 4507 may represent aheight of the first attachment point from the first pivot. “b” indicatedat 4508 may represent a distance between the second attachment point andthe first pivot. “d” indicated at 4509 may represent a distance betweenthe second attachment point and a horizontal line passing through thefirst and third pivots, that is, a distance in a vertical direction fromthe second attachment point to a horizontal plane passing through thelongitudinal axes of the first and third pivots. “e” indicated at 4510may represent a distance that the first attachment point displaces froma plumb line passing through the first and second pivots, that is, adistance in a horizontal direction from the first attachment point to avertical plane passing through the longitudinal axes of the first andsecond pivots. A gravity center of the payload may be represented at4511 and “g” at 4512 may represent a distance that the gravity center ofthe payload may displace from the plumb line passing through the thirdand fourth pivots, that is, a distance in the horizontal direction fromthe gravity center of the payload to a vertical plane passing throughthe longitudinal axes of the third and fourth pivots.

Factors affecting the lifting support of the parallelogram linkage mayinclude spring parameters, structural parameters of the parallelogramlinkage, and locations of the attachment points of the spring. A graphof the lifting power or support force versus elevation of the payload,or a graph of the lifting power versus inclined angles of theparallelogram linkage, may be obtained by changing some or all of theabove parameters. The graph of the support force versus elevation of thepayload is shown in FIG. 46, where the short link bars remain verticaland the long link bars remain horizontal, and elevation of the payloadis almost zero.

In order to eliminate the jitter with a low frequency in the verticaldirection, the inherent frequency of the parallelogram linkage should below and therefore the optimal shape of the curve should be approximatelyhorizontal with the left part higher than the right part, as shown inFIG. 46. The higher the slope of the curve, the higher the inherentfrequency of the linkage.

Regarding the adjustments of the spring parameters, if the lifting poweror support force is satisfied, the effect would be better if the springis designed with a large to medium diameter, a small wire diameter, andfewer number of turns. Adjusting the height “a” of the attachment pointof the spring from the first pivot may change the lifting support. Inother words, a vertical distance between the second attachment point andthe center of the first pivot may be variable such that the constantforce assembly may provide different counteracting forces forgravitational forces on different payloads.

In some instances, the main parameters affecting the shape of the curvemay be the distance “e,” which is a distance in a horizontal directionfrom the first attachment point to a vertical plane passing through thelongitudinal axes of the first and second pivots. When “e” is a positivevalue, the first attachment point would be within a rectangle enclosedby connecting lines (such as four connecting lines 4513-4516 shown inFIG. 45) connecting four pivots of the parallelogram linkage. When “e”is zero, the first attachment point would be on the connecting lineconnecting the first and second pivots. When “e” is a negative value,then the first attachment point is outside the rectangle at issue. Whenthe first attachment point is adjacent to the rectangle and at theoutside thereof, i.e., “e” is a less negative value, the stabilizationeffect would be better. In other words, according to the embodiments ofthe disclosure, one attachment point of the resilient member isdisplaced in a horizontal direction by a negative offset distance from avertical plane passing through longitudinal exes of two of four pivotsthat are adjacent to the handle assembly. In some embodiments, thenegative offset distance may be in a range of about −2 millimeter (mm)to 0 mm or −0.6 mm to −0.2 mm. In some embodiments, the negative offsetdistance may be −0.4 mm.

In some instances, the gravity center of the payload may be displacedfrom the connecting line connecting the third and fourth pivots (such asthe connecting line 4514 shown in FIG. 45) by “g.” When the gravitycenter of the payload is near or close to the connecting line at issue,the stabilization effect may be better. The optimal position of thepayload occurs when the gravity center of the payload is on theconnecting line.

FIG. 47 is a graph showing the effect of locations of two attachmentpoints of a resilient member of a parallelogram linkage on supportforces and elevations of a payload in accordance with an embodiment ofthe disclosure, where “g”=0, i.e., the distance that the gravity centerof the payload may displace from the plumb line passing through thethird and fourth pivots is zero. As previously described, the optimalshape of the curve should be approximately horizontal with the left parthigher than the right part. According to this rule, it can be found thatthe curve with “e”=−6 may achieve the best stabilization effect amongthe four curves. Therefore, in some embodiments, the negative offsetdistance may be about −0.6 mm.

FIG. 48 is another graph showing the effect of locations of twoattachment points of a resilient member of a parallelogram linkage onsupport forces and elevations of a payload in accordance with anotherembodiment of the disclosure, where “e”=0, i.e., the distance that thefirst attachment point displaces from a plumb line passing through thefirst and second pivots is zero. As previously noted, the optimal shapeof the curve should be approximately horizontal with the left parthigher than the right part. According to this rule, it can be found thatthe curve with “g”=0 may achieve the best stabilization effect among thethree curves. Therefore, in some embodiments, a gravity center of thepayload may be within a vertical plane passing through longitudinal axesof two of four pivots that are adjacent to the payload stabilizationassembly.

In addition to providing various embodiments of the stabilizing devicesdescribed with reference to FIGS. 1-48, the disclosure may also providea number of methods for using or operating such stabilizing devices.

In some embodiments, a method for stabilizing a payload is provided. Themethod may comprise supporting the payload using a payload stabilizationassembly configured to permit the payload to rotate about at least oneaxis of rotation. The method may also comprise providing a force thatequipoises a gravity force of the payload stabilization assembly withthe payload in a vertical direction such that a net force of the payloadstabilization assembly with the payload in the vertical direction issubstantially zero, using a constant force assembly (1) configured tosupport the payload stabilization assembly, and (2) operably connectedto a handle assembly comprising one or more grips configured to permit auser to support the entirety of the stabilizing device using the one ormore grips.

In some embodiments, a method for stabilizing a payload is provided. Themethod may comprise supporting the payload using a payload stabilizationassembly configured to permit the payload to rotate about at least oneaxis of rotation. The method may also comprise permitting, via thepayload stabilization assembly, the payload to rotate about at least oneaxis of rotation when directly operably connected to the handle assemblywithout a constant force assembly being operably connected to the handleassembly. The method may further comprise permitting, via the payloadstabilization assembly, the payload to rotate about at least one axis ofrotation when supported by the constant force assembly that is operablyconnected to the handle assembly, wherein the constant force assembly isconfigured to provide force that equipoises a gravity force of thepayload stabilization assembly with the payload in a vertical directionsuch that a net force of the payload stabilization assembly with thepayload in the vertical direction is substantially zero.

In some embodiments, a method of using a constant force assembly tostabilize a payload is provided. The method may comprise permitting theconstant force assembly to be detachably connected to a handle assemblyof a stabilizing device using a first interface of the constant forceassembly, wherein the handle assembly comprises one or more grips. Themethod may also comprise permitting the constant force assembly to bedetachably connected to a payload stabilization assembly of thestabilizing device using a second interface of the constant forceassembly, wherein the payload stabilization assembly is configured tosupport the payload and permit the payload to rotate about at least oneaxis of rotation. The method may further comprise providing a force,using the constant force assembly, that equipoises a gravity force ofthe payload stabilization assembly with the payload in a verticaldirection such that a net force of the payload stabilization assemblywith the payload in the vertical direction is substantially zero.

In some embodiments, a method for stabilizing a payload is provided. Themethod may comprise supporting the payload using a payload stabilizationassembly configured to permit the payload to rotate about at least oneaxis of rotation. The method may also comprise providing a force thatequipoises a gravity force of the payload stabilization assembly withthe payload in a vertical direction such that a net force of the payloadstabilization assembly with the payload in the vertical direction issubstantially zero, using a constant force assembly (1) configured tosupport the payload stabilization assembly, and (2) operably connectedto a handle assembly comprising one or more grips, wherein the constantforce assembly comprises a parallelogram linkage which includes fourpivots and a resilient member obliquely arranged within theparallelogram linkage, and one attachment point of the resilient memberis displaced in a horizontal direction by a negative offset distancefrom a vertical plane passing through longitudinal axes of two of fourpivots that are adjacent to the handle assembly.

The methods as discussed above in accordance with the embodiments of thedisclosure may also comprise other steps for implementing one or morestabilizing devices as discussed before and the pertinent descriptionsregarding the operations of the stabilizing devices may also beapplicable to the methods as discussed above.

FIG. 49 shows an example of a stabilizing device mounted on an object inaccordance with an embodiment of the disclosure. The stabilizing device200 in FIG. 49 may be similar to the stabilizing device shown in FIGS.2-4 and mounted to the object 4901. Other stabilizing devices accordingto various embodiments of the present disclosure may also be capable ofbeing mounted to the object as needed. The object may be a stationaryobject, or a movable object, such as a vehicle. When the stabilizingdevice according to the embodiments of the disclosure is mounted on avehicle, it may or may not be held by a human user. Alternatively, thestabilizing device may be mounted to a vehicle or any other object usinga permanent or temporary attachment. For example, a boom may beprovided, from which the stabilizing device may hang. The stabilizingdevice may be mounted to a front, back, side, top, or bottom of avehicle. A vehicle may have attachments for a stabilizing device in oneor more locations on the vehicle. The vehicle may be a car, truck, bus,trolley, boat, motorcycle, bike, airplane, jet plane, unmanned aerialvehicle (UAV), a train, or any other type of vehicle as describedelsewhere herein.

The embodiments of the disclosure described herein may include multiplestabilizing devices that can be carried by a wide variety of movableobjects. Any description herein of an aerial vehicle, such as a UAV, mayapply to and be used for any movable object. Any description herein ofan aerial vehicle may apply specifically to UAVs. A movable object ofthe present disclosure can be configured to move within any suitableenvironment, such as in air (e.g., a fixed-wing aircraft, a rotary-wingaircraft, or an aircraft having neither fixed wings nor rotary wings),in water (e.g., a ship or a submarine), on ground (e.g., a motorvehicle, such as a car, truck, bus, van, motorcycle, bicycle; a movablestructure or frame such as a stick, fishing pole; or a train), under theground (e.g., a subway), in space (e.g., a spaceplane, a satellite, or aprobe), or any combination of these environments. The movable object canbe a vehicle, such as a vehicle described elsewhere herein. In someembodiments, the movable object can be carried by a living subject, ortake off from a living subject, such as a human or an animal.

In some embodiments, when the stabilizing device is about to be mountedon the UAV, the grips previously attached to the handle assembly may bedetached therefrom. Therefore, it may reduce the size and volume of thestabilizing devices of the disclosure. Further, when mounted on the UAV,a remote controller may be shared by the UAV and the stabilizing deviceaccording to the embodiments of the disclosure. Thereby, the user may beable to remotely transmit the instructions to the stabilizing devicefor, for example, commencing the stabilization operations in thevertical direction or stopping the stabilization operations. In someembodiments, a separate remote controller may be used to independentlycontrol the operations of the stabilizing device. Further, the datacollected by one or more sensors on the stabilizing device may beforwarded to one or more processors on board the UAV or off board theUAV. Once the processors complete the operations based on the collecteddata, they may directly transmit the results to the stabilizing devicefor making a decision related to shooting, when the payload includes acamera. For example, the UAV may instruct one or more motors to rotatesuch that the camera may be able to shoot images in different directionsand with different angles of view.

FIG. 50 illustrates a movable object 5000 in accordance with embodimentsof the disclosure. Although the movable object 5000 is depicted as anaircraft, this depiction is not intended to be limiting, and anysuitable type of movable object can be used, as previously describedherein. One of skill in the art would appreciate that any of theembodiments described herein in the context of aircraft systems can beapplied to any suitable movable object (e.g., an UAV). In someinstances, the payload 5004 may be provided on the movable object 5000without requiring the carrier 5002. The movable object 5000 may includepropulsion mechanisms 5006, a sensing system 5008, and a communicationsystem 5010. In some embodiments, the payload 5004 may be anystabilizing devices as discussed before with respect to accompanyingdrawings.

The propulsion mechanisms 5006 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 5006 can be mounted on the movableobject 5000 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms5006 can be mounted on any suitable portion of the movable object 5000,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 5006 can enable themovable object 5000 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 5000 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 5006 can be operable to permit the movableobject 5000 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 5000 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 5000 can be configured to becontrolled simultaneously.

For example, the movable object 5000 can have multiple horizontallyoriented rotors that can provide lift and/or thrust to the movableobject. The multiple horizontally oriented rotors can be actuated toprovide vertical takeoff, vertical landing, and hovering capabilities tothe movable object 5000. In some embodiments, one or more of thehorizontally oriented rotors may spin in a clockwise direction, whileone or more of the horizontally rotors may spin in a counterclockwisedirection. For example, the number of clockwise rotors may be equal tothe number of counterclockwise rotors. The rotation rate of each of thehorizontally oriented rotors can be varied independently in order tocontrol the lift and/or thrust produced by each rotor, and therebyadjust the spatial disposition, velocity, and/or acceleration of themovable object 5000 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 5008 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 5000 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 5008 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 5000(e.g., using a suitable processing unit and/or control module, asdescribed below).

Alternatively, the sensing system 5008 can be used to provide dataregarding the environment surrounding the movable object, such asweather conditions, proximity to potential obstacles, location ofgeographical features, location of manmade structures, and the like. Insome embodiments, the sensing system herein may be able to provide dataabout the location of the payload supported by the payload stabilizationassembly and connected with the constant force assembly. Therefore, bydriving operations of one or more driving units, the payload togetherwith the payload stabilization assembly may return an expected position.

The communication system 5010 enables communication with terminal 5012having a communication system 5014 via wireless signals 5016. Thecommunication systems 5010 and 5014 may include any number oftransmitters, receivers, and/or transceivers suitable for wirelesscommunication. The communication may be one-way communication, such thatdata can be transmitted in only one direction. For example, one-waycommunication may involve only the movable object 5000 transmitting datato the terminal 5012, or vice-versa. The data may be transmitted fromone or more transmitters of the communication system 5010 to one or morereceivers of the communication system 5012, or vice-versa.

Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object5000 and the terminal 5012. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 5010 to one or more receivers of the communication system 5014,and vice-versa. In some embodiments, the data regarding the movement ofthe payload in the vertical direction may also be transmitted by thecommunication system 5010 to the terminal 5012. Thereby, the terminaluser may be able to control the vertical movement of the payload bycontrolling one or more relevant motors such that the jitter or shakingin the vertical direction could be equipoised by the constant forceassembly according to the embodiments of the disclosure such that a netforce of the payload stabilization assembly with the payload in thevertical direction is substantially zero.

In some embodiments, the terminal 5012 can provide control data to oneor more of the movable object 5000, carrier 5002, and payload 5004 andreceive information from one or more of the movable object 5000, carrier5002, and payload 5004 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload.

For example, the control data may result in a modification of thelocation and/or orientation of the movable object (e.g., via control ofthe propulsion mechanisms 5006), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 5002).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 5008 or of the payload 5004). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 5012 can be configured tocontrol a state of one or more of the movable object 5000, carrier 5002,or payload 5004. Alternatively or in combination, the carrier 5002 andpayload 5004 can also each include a communication module configured tocommunicate with terminal 5012, such that the terminal can communicatewith and control each of the movable object 5000, carrier 5002, andpayload 5004 independently.

In some embodiments, the movable object 5000 can be configured tocommunicate with another remote device in addition to the terminal 5012,or instead of the terminal 5012. The terminal 5012 may also beconfigured to communicate with another remote device as well as themovable object 5000. For example, the movable object 5000 and/orterminal 5012 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 5000, receivedata from the movable object 5000, transmit data to the terminal 5012,and/or receive data from the terminal 5012. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1500 and/orterminal 5012 can be uploaded to a website or server.

FIG. 51 is a schematic illustration by way of block diagram of a system5100 for controlling a movable object, in accordance with embodiments.The system 5100 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 5100can include a sensing module 5102, processing unit 5104, non-transitorycomputer readable medium 5106, control module 5108, and communicationmodule 5110.

The sensing module 5102 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 5102 can beoperatively coupled to a processing unit 5104 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 5112 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 5112 canbe used to transmit images captured by a camera of the sensing module5102 to a remote terminal.

The processing unit 5104 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 5104 can be operatively coupled to a non-transitorycomputer readable medium 5106. The non-transitory computer readablemedium 5106 can store logic, code, and/or program instructionsexecutable by the processing unit 5104 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 5102 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 5106. Thememory units of the non-transitory computer readable medium 5106 canstore logic, code and/or program instructions executable by theprocessing unit 5104 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 5104 can beconfigured to execute instructions causing one or more processors of theprocessing unit 5104 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 5104. In some embodiments, thememory units of the non-transitory computer readable medium 5106 can beused to store the processing results produced by the processing unit5104.

In some embodiments, the processing unit 5104 can be operatively coupledto a control module 5108 configured to control a state of the movableobject. For example, the control module 5108 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 5108 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 5104 can be operatively coupled to a communicationmodule 5110 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 5110 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module5110 can transmit and/or receive one or more of sensing data from thesensing module 5102, processing results produced by the processing unit5104, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 5100 can be arranged in any suitableconfiguration. For example, one or more of the components of the system5100 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 51 depicts asingle processing unit 5104 and a single non-transitory computerreadable medium 5106, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 5100 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 5100 can occur at one or more of theaforementioned locations.

Any description herein of a carrier may apply to the stabilizing devicesas described or any other type of carrier.

While some embodiments of the present disclosure have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the disclosure. It should beunderstood that various alternatives to the embodiments of thedisclosure described herein may be employed in practicing thedisclosure. It is intended that the following claims define the scope ofthe invention and that methods and structures within the scope of theseclaims and their equivalents be covered thereby.

What is claimed is:
 1. A stabilizing device for stabilizing a payload,comprising: a handle assembly comprising one or more grips configured topermit a user to support the entirety of the stabilizing device usingthe one or more grips; a payload stabilization assembly configured tosupport the payload and permit the payload to rotate about at least oneaxis of rotation to provide stabilization to the payload; and a constantforce assembly operably connected to the handle assembly and supportingthe payload stabilization assembly, the constant force assemblyincluding: a first connecting member connected to the payloadstabilization assembly; and a driving unit configured to drive thepayload to move in a vertical direction through the first connectingmember; wherein the constant force assembly is configured to: provide aforce that equipoises a gravity force of the payload stabilizationassembly with the payload in the vertical direction such that a netforce of the payload stabilization assembly with the payload in thevertical direction is substantially zero, and to permit the payload tomove substantially in the vertical direction; and in response to amovement of the payload, move the payload in the vertical direction tocounter the movement of the payload so as to provide stabilization tothe payload in addition to the payload stabilization assembly.
 2. Thestabilizing device according to claim 1, wherein the driving unit isconfigured to drive the payload to return to or stop at a predeterminedposition in the vertical direction through the first connecting member.3. The stabilizing device of claim 1, wherein the handle assemblyincludes at least one handle and a support member, the handle isconnected to the support member, the support member is connected to theconstant force assembly, and the drive unit is installed on the supportmember.
 4. The stabilizing device of claim 3, wherein the support memberis connected to the constant force assembly through a hinge-connectionmechanism.
 5. The stabilizing device of claim 1, further including atleast one sensor, wherein the sensor is configured to detect movement ofthe handle assembly, the payload stabilization assembly, or the constantforce assembly, so as to cause the driving unit to drive the payload. 6.The stabilizing device of claim 1, wherein the handle assembly includesa top handle-bar and two handles located on two sides of the tophandle-bar, the top handle-bar is connected with the constant forcecomponent through a second connecting member.
 7. The stabilizing deviceof claim 1, wherein the force comprises a resilient force generated bythe constant force assembly with at least one resilient member.
 8. Thestabilizing device of claim 7, wherein the constant force assemblycomprises a constant force spring to generate the resilient force, andthe constant force spring comprises a spool and a rolled metal stripconnected to the payload stabilization assembly.
 9. The stabilizingdevice of claim 8, wherein the spool is configured to be driven by amotor to unroll the rolled strip in the vertical direction to anexpected position.
 10. The stabilizing device of claim 7, wherein theconstant force assembly comprises a parallelogram linkage including: aresilient member positioned proximately along a diagonal of theparallelogram linkage; and four pivots, each of which is positioned atone of four corners of the parallelogram linkage.
 11. The stabilizingdevice of claim 10, wherein: the four pivots comprise a first pivot, asecond pivot, a third pivot, and a fourth pivot; the first pivot and thesecond pivot are configured to be proximal to the handle assembly and tobe vertically aligned with one another at an initial state, the secondpivot being higher than the first pivot in the vertical direction; andthe third pivot and the fourth pivot are configured to be proximal tothe payload stabilization assembly and to be vertically aligned with oneanother at the initial state, the fourth pivot being higher than thethird pivot in the vertical direction.
 12. The stabilizing device ofclaim 11, wherein the resilient member includes a tension spring havinga first end and a second end, the first end being attached to aconnecting rod connecting the first pivot and the third pivot at a firstattachment point proximal to the third pivot, and the second end beingattached to a connector between the second pivot and the first pivot inthe vertical direction at a second attachment point.
 13. The stabilizingdevice of claim 12, wherein the connector is moveably connected with anadjustment knob configured to be adjusted to cause the connector to moveup and down in the vertical direction, thereby changing a height of thesecond attachment point in the vertical direction relative to the firstpivot.
 14. The stabilizing device of claim 12, wherein the forceprovided by the parallelogram linkage is determined according to one ormore parameters of the tension spring, structural parameters of theparallelogram linkage, and positions of the first and second attachmentpoints.
 15. The stabilizing device of claim 14, wherein the one or moreparameters of the tension spring comprise at least one of a mean coildiameter, a wire diameter, or a number of coils.
 16. The stabilizingdevice of claim 10, wherein in the parallelogram linkage is configuredto have a natural frequency which is low enough to reduce or eliminatelow-frequency jitter in the vertical direction.
 17. The stabilizingdevice of claim 1, wherein: the payload stabilization assembly comprisea support bar, a linkage mechanism, an upper support plate forsupporting the constant force assembly, and a lower support plate forsupporting the payload; and one end of the support bar is attached tothe handle assembly and another end of the support bar is attached tothe linkage mechanism for securing the payload in the vertical directionsuch that the payload moves steadily in the vertical direction.
 18. Thestabilizing device of claim 1, wherein the handle assembly and thepayload are electrically connected with one another through electricalwiring passing through the constant force assembly.
 19. The stabilizingdevice of claim 1, wherein the handle assembly is configured to have avariable orientation relative to the constant force assembly.